EP3885608A4 - Strain wave gearing device - Google Patents

Strain wave gearing device Download PDF

Info

Publication number
EP3885608A4
EP3885608A4 EP18940743.0A EP18940743A EP3885608A4 EP 3885608 A4 EP3885608 A4 EP 3885608A4 EP 18940743 A EP18940743 A EP 18940743A EP 3885608 A4 EP3885608 A4 EP 3885608A4
Authority
EP
European Patent Office
Prior art keywords
strain wave
gearing device
wave gearing
strain
wave
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP18940743.0A
Other languages
German (de)
French (fr)
Other versions
EP3885608A1 (en
Inventor
Daisuke Orii
Syuhei Kobayashi
Norio Shirokoshi
Hiroshi Yamazaki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harmonic Drive Systems Inc
Original Assignee
Harmonic Drive Systems Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harmonic Drive Systems Inc filed Critical Harmonic Drive Systems Inc
Publication of EP3885608A1 publication Critical patent/EP3885608A1/en
Publication of EP3885608A4 publication Critical patent/EP3885608A4/en
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/0427—Guidance of lubricant on rotary parts, e.g. using baffles for collecting lubricant by centrifugal force
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/043—Guidance of lubricant within rotary parts, e.g. axial channels or radial openings in shafts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/043—Guidance of lubricant within rotary parts, e.g. axial channels or radial openings in shafts
    • F16H57/0431—Means for guiding lubricant directly onto a tooth surface or to foot areas of a gear, e.g. by holes or grooves in a tooth flank
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0467—Elements of gearings to be lubricated, cooled or heated
    • F16H57/0469—Bearings or seals
    • F16H57/0471—Bearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/048—Type of gearings to be lubricated, cooled or heated
    • F16H57/0482—Gearings with gears having orbital motion
    • F16H57/0486—Gearings with gears having orbital motion with fixed gear ratio
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F16H2049/003—Features of the flexsplines therefor

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)
  • Gears, Cams (AREA)
  • Diaphragms For Electromechanical Transducers (AREA)
  • Holo Graphy (AREA)
EP18940743.0A 2018-11-22 2018-11-22 Strain wave gearing device Pending EP3885608A4 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2018/043252 WO2020105186A1 (en) 2018-11-22 2018-11-22 Strain wave gearing device

Publications (2)

Publication Number Publication Date
EP3885608A1 EP3885608A1 (en) 2021-09-29
EP3885608A4 true EP3885608A4 (en) 2022-04-13

Family

ID=70774001

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18940743.0A Pending EP3885608A4 (en) 2018-11-22 2018-11-22 Strain wave gearing device

Country Status (7)

Country Link
US (1) US11603918B2 (en)
EP (1) EP3885608A4 (en)
JP (1) JP7066305B2 (en)
KR (1) KR102587316B1 (en)
CN (1) CN113015865A (en)
TW (1) TWI819108B (en)
WO (1) WO2020105186A1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7466471B2 (en) 2021-01-05 2024-04-12 住友重機械工業株式会社 Flexible mesh gear device
JP7490618B2 (en) 2021-07-19 2024-05-27 美的集団股▲フン▼有限公司 Wave gear device and actuator
JP2023094974A (en) * 2021-12-24 2023-07-06 美的集団股▲フン▼有限公司 Wave motion gear device and joint device for robot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60129546U (en) * 1984-02-09 1985-08-30 株式会社　ハ−モニツク・ドライブ・システムズ harmonic gear
JPS61206154U (en) * 1985-06-14 1986-12-26
JPH0287152U (en) * 1988-12-23 1990-07-10
JPH0291238U (en) * 1989-01-05 1990-07-19

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB640638A (en) * 1945-07-12 1950-07-26 Hoover Ltd Improvements in or relating to ball and roller bearings and the mounting thereof
DE2624849C3 (en) * 1976-06-03 1981-12-03 Skf Kugellagerfabriken Gmbh, 8720 Schweinfurt Self-pressure generating radial plain bearing
US4159152A (en) * 1977-10-11 1979-06-26 Morgan Construction Company Means for lubricating the roll neck/sleeve interface of an oil film bearing
JP2002349681A (en) * 2001-05-23 2002-12-04 Harmonic Drive Syst Ind Co Ltd Lubricating mechanism for wave motion gear device
JP2005321048A (en) 2004-05-10 2005-11-17 Koyo Seiko Co Ltd Rolling slide part, and method for manufacturing the same
JP2008223942A (en) 2007-03-14 2008-09-25 Nsk Ltd Rolling bearing
JP4897610B2 (en) 2007-08-08 2012-03-14 株式会社ハーモニック・ドライブ・システムズ Wave generator, wave gear device, and efficiency reduction prevention method for wave gear device
JP4523026B2 (en) 2007-10-29 2010-08-11 キヤノンマシナリー株式会社 Rolling sliding surface structure
JP2010014215A (en) * 2008-07-04 2010-01-21 Harmonic Drive Syst Ind Co Ltd Wave motion gear device
WO2013067314A1 (en) * 2011-11-03 2013-05-10 Roller Bearing Company Of America, Inc. Roller bearing with knurled wear resistant exterior surface and method of manufacturing the same
JP6192580B2 (en) 2014-03-28 2017-09-06 住友重機械工業株式会社 Bending gear system
CN107076268B (en) * 2014-11-21 2019-06-04 谐波传动***有限公司 Wavegenerator and Wave gear device
WO2017022061A1 (en) * 2015-08-03 2017-02-09 株式会社ハーモニック・ドライブ・システムズ Wave gear device
WO2017022062A1 (en) * 2015-08-03 2017-02-09 株式会社ハーモニック・ドライブ・システムズ Strain wave gearing device
US10801585B2 (en) 2015-11-06 2020-10-13 Harmonic Drive Systems Inc. Flexible external gear and strain wave gearing
CN108350991A (en) * 2015-11-17 2018-07-31 谐波传动***有限公司 Wave gear device
JP6964392B2 (en) 2016-06-01 2021-11-10 キヤノンマシナリー株式会社 Sliding surface structure and manufacturing method of sliding surface structure
JP6790648B2 (en) * 2016-09-21 2020-11-25 セイコーエプソン株式会社 Manufacturing methods for robots, gear devices and gear devices
JP2018168956A (en) * 2017-03-30 2018-11-01 セイコーエプソン株式会社 Robot and gear unit
JP7127367B2 (en) * 2018-06-05 2022-08-30 セイコーエプソン株式会社 ROBOT, GEAR DEVICE AND METHOD OF MANUFACTURING GEAR DEVICE
US10612595B2 (en) * 2018-08-13 2020-04-07 Schaeffler Technologies AG & Co. KG Lubrication groove for deep groove ball bearing

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60129546U (en) * 1984-02-09 1985-08-30 株式会社　ハ−モニツク・ドライブ・システムズ harmonic gear
JPS61206154U (en) * 1985-06-14 1986-12-26
JPH0287152U (en) * 1988-12-23 1990-07-10
JPH0291238U (en) * 1989-01-05 1990-07-19

Also Published As

Publication number Publication date
TWI819108B (en) 2023-10-21
CN113015865A (en) 2021-06-22
KR20210080531A (en) 2021-06-30
EP3885608A1 (en) 2021-09-29
US11603918B2 (en) 2023-03-14
TW202020338A (en) 2020-06-01
JP7066305B2 (en) 2022-05-13
WO2020105186A1 (en) 2020-05-28
KR102587316B1 (en) 2023-10-10
JPWO2020105186A1 (en) 2021-09-27
US20210341048A1 (en) 2021-11-04

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